openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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import unittest, math
import numpy as np
from tinygrad import dtypes
from tinygrad.ops import UOp, Ops
from tinygrad.codegen.transcendental import payne_hanek_reduction, cody_waite_reduction, frexp, rintk, pow2if
from test.helpers import eval_uop
class TestTranscendentalFunctions(unittest.TestCase):
def test_payne_hanek_reduction(self):
# TODO: Test constant input when constant folding is fixed (or maybe test both variants)
# Load input value from a buffer to prevent constant folding
input_buf = UOp(Ops.DEFINE_GLOBAL, dtypes.double.ptr(), arg=1, src=())
loaded_value = UOp.load(input_buf.index(UOp.const(dtypes.int, 0)), dtype=dtypes.double)
def eval_payne_hanek_reduction(v:float) -> tuple[float, int]:
return tuple(eval_uop(u, [(dtypes.float64, [v])]) for u in payne_hanek_reduction(loaded_value))
r, q = eval_payne_hanek_reduction(12 * math.pi + 0.1)
np.testing.assert_allclose(r, 0.1 - math.pi / 2)
np.testing.assert_equal(q, 1)
r, q = eval_payne_hanek_reduction(12 * math.pi)
np.testing.assert_allclose(r, 0.0, atol=1e-8)
np.testing.assert_equal(q, 4)
r, q = eval_payne_hanek_reduction(12 * math.pi - 0.1)
np.testing.assert_allclose(r, -0.1)
np.testing.assert_equal(q, 4)
def test_cody_waite_reduction(self):
r, q = (eval_uop(u) for u in cody_waite_reduction(UOp.const(dtypes.float64, 12 * math.pi + 0.1)))
np.testing.assert_allclose(r, 0.1)
np.testing.assert_equal(q, 12)
def test_frexp(self):
for x in (1, -1):
mantissa, exponent = (eval_uop(u) for u in frexp(UOp.const(dtypes.float64, x)))
np.testing.assert_equal(mantissa, 0.5)
np.testing.assert_equal(exponent, 1)
for x in (2, -2):
mantissa, exponent = (eval_uop(u) for u in frexp(UOp.const(dtypes.float64, 2.0)))
np.testing.assert_equal(mantissa, 0.5)
np.testing.assert_equal(exponent, 2)
mantissa, exponent = (eval_uop(u) for u in frexp(UOp.const(dtypes.float64, 5.0)))
np.testing.assert_equal(mantissa, 0.625)
np.testing.assert_equal(exponent, 3)
mantissa, exponent = (eval_uop(u) for u in frexp(UOp.const(dtypes.float64, 1000.0)))
np.testing.assert_allclose(mantissa, 0.9765625)
np.testing.assert_equal(exponent, 10)
def test_rintk(self):
np.testing.assert_allclose(eval_uop(rintk(UOp.const(dtypes.float, 0.0))), 0)
np.testing.assert_allclose(eval_uop(rintk(UOp.const(dtypes.float, 5.0))), 5)
np.testing.assert_allclose(eval_uop(rintk(UOp.const(dtypes.float, 5.5))), 6)
np.testing.assert_allclose(eval_uop(rintk(UOp.const(dtypes.float, 5.999))), 6)
np.testing.assert_allclose(eval_uop(rintk(UOp.const(dtypes.float, -5.0))), -5)
np.testing.assert_allclose(eval_uop(rintk(UOp.const(dtypes.float, -5.5))), -6)
np.testing.assert_allclose(eval_uop(rintk(UOp.const(dtypes.float, -5.999))), -6)
def test_pow2if(self):
np.testing.assert_allclose(eval_uop(pow2if(UOp.const(dtypes.int, 0), dtypes.float)), 1.0)
np.testing.assert_allclose(eval_uop(pow2if(UOp.const(dtypes.int, 1), dtypes.float)), 2.0)
np.testing.assert_allclose(eval_uop(pow2if(UOp.const(dtypes.int, 2), dtypes.float)), 4.0)
np.testing.assert_allclose(eval_uop(pow2if(UOp.const(dtypes.int, 10), dtypes.float)), 1024.0)
np.testing.assert_allclose(eval_uop(pow2if(UOp.const(dtypes.int, 63), dtypes.float)), 2**63)
np.testing.assert_allclose(eval_uop(pow2if(UOp.const(dtypes.int, -1), dtypes.float)), 0.5)
np.testing.assert_allclose(eval_uop(pow2if(UOp.const(dtypes.int, -2), dtypes.float)), 0.25)
np.testing.assert_allclose(eval_uop(pow2if(UOp.const(dtypes.int, -10), dtypes.float)), 2**-10)
np.testing.assert_allclose(eval_uop(pow2if(UOp.const(dtypes.int, -63), dtypes.float)), 2**-63)
if __name__ == '__main__':
unittest.main()